摘要
以采摘机器人采摘作业为研究对象,以选择性采摘成熟果蔬为研究目标,基于无标定视觉伺服系统,结合果蔬成熟特性判断目标果实是否适合采摘,设计了一套以MSP430F149为核心的智能检测控制系统,可以实时处理相机采集到的图像,并选择性采摘符合要求的果实。本文重点研究了视觉伺服原理与模型、果实成熟度判断、选择性作业信息获取,以及系统的硬软件设计,并对文中设计研究的系统进行了可行性验证。试验结果表明:该无标定视觉伺服系统判断准确,能够较大程度提高机器人的可靠性与稳定性,应用前景宽广。
It takes the picking robot picking operation as the research object, selects the picked ripe fruits and vegetables as the research target, which is based on uncalibrated visual servo system, combined with fruit and vegetable ripening characteristics determine target fruit. It is suitable for picking design to select MSP430F149 as the core of intellectual to detection and control system that can real-time processing camera to capture the image, and selective picking in line with the requirements of the fruit. It focuses on the design of hardware and software and a system for acquiring visual servo principle and model of fruit maturity, judgment and selective operation information. And the system design is verified fea- sibility. The test results show that the uncalibrated visual servo system is accurate, which can greatly improve the reliability and stability of the robot with wide application prospect.
出处
《农机化研究》
北大核心
2017年第5期241-245,共5页
Journal of Agricultural Mechanization Research
基金
河南省科技攻关项目(152102110161)
